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Successfully created Expression from AutoDiff function!

release/4.3a0
dellaert 2014-10-20 15:38:27 +02:00
parent bf5580d518
commit bce84ca4db
1 changed files with 25 additions and 12 deletions
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37
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -519,6 +519,9 @@ class AdaptAutoDiff {
static const int M1 = dimension<A1>::value; static const int M1 = dimension<A1>::value;
static const int M2 = dimension<A2>::value; static const int M2 = dimension<A2>::value;
typedef Eigen::Matrix<double, N, M1, Eigen::RowMajor> RowMajor1;
typedef Eigen::Matrix<double, N, M2, Eigen::RowMajor> RowMajor2;
typedef Canonical<T> CanonicalT; typedef Canonical<T> CanonicalT;
typedef Canonical<A1> Canonical1; typedef Canonical<A1> Canonical1;
typedef Canonical<A2> Canonical2; typedef Canonical<A2> Canonical2;
@ -535,8 +538,8 @@ class AdaptAutoDiff {
public: public:
typedef Eigen::Matrix<double, N, M1, Eigen::RowMajor> JacobianTA1; typedef Eigen::Matrix<double, N, M1> JacobianTA1;
typedef Eigen::Matrix<double, N, M2, Eigen::RowMajor> JacobianTA2; typedef Eigen::Matrix<double, N, M2> JacobianTA2;
T operator()(const A1& a1, const A2& a2, boost::optional<JacobianTA1&> H1 = T operator()(const A1& a1, const A2& a2, boost::optional<JacobianTA1&> H1 =
boost::none, boost::optional<JacobianTA2&> H2 = boost::none) { boost::none, boost::optional<JacobianTA2&> H2 = boost::none) {
@ -551,15 +554,26 @@ public:
VectorT result; VectorT result;
if (H1 || H2) { if (H1 || H2) {
// Get derivatives with AutoDiff // Get derivatives with AutoDiff
double *parameters[] = { v1.data(), v2.data() }; double *parameters[] = { v1.data(), v2.data() };
double *jacobians[] = { H1->data(), H2->data() }; double rowMajor1[N * M1], rowMajor2[N * M2]; // om the stack
double *jacobians[] = { rowMajor1, rowMajor2 };
success = AutoDiff<F, double, 9, 3>::Differentiate(f, parameters, 2, success = AutoDiff<F, double, 9, 3>::Differentiate(f, parameters, 2,
result.data(), jacobians); result.data(), jacobians);
// Convert from row-major to columnn-major
// TODO: if this is a bottleneck (probably not!) fix Autodiff to be Column-Major
*H1 = Eigen::Map<RowMajor1>(rowMajor1);
*H2 = Eigen::Map<RowMajor2>(rowMajor2);
} else { } else {
// Apply the mapping, to get result // Apply the mapping, to get result
success = f(v1.data(), v2.data(), result.data()); success = f(v1.data(), v2.data(), result.data());
} }
if (!success)
throw std::runtime_error(
"AdaptAutoDiff: function call resulted in failure");
return chartT.hat(result); return chartT.hat(result);
} }
@ -607,8 +621,8 @@ TEST(Expression, AutoDiff3) {
Matrix E2 = numericalDerivative22<Point2, Camera, Point3>(Adaptor(), P, X); Matrix E2 = numericalDerivative22<Point2, Camera, Point3>(Adaptor(), P, X);
// Get derivatives with AutoDiff, not gives RowMajor results! // Get derivatives with AutoDiff, not gives RowMajor results!
Eigen::Matrix<double, 2, 9, Eigen::RowMajor> H1; Matrix29 H1;
Eigen::Matrix<double, 2, 3, Eigen::RowMajor> H2; Matrix23 H2;
Point2 actual2 = snavely(P, X, H1, H2); Point2 actual2 = snavely(P, X, H1, H2);
EXPECT(assert_equal(expected,actual,1e-9)); EXPECT(assert_equal(expected,actual,1e-9));
EXPECT(assert_equal(E1,H1,1e-8)); EXPECT(assert_equal(E1,H1,1e-8));
@ -616,13 +630,12 @@ TEST(Expression, AutoDiff3) {
} }
TEST(Expression, Snavely) { TEST(Expression, Snavely) {
// Expression<Camera> P(1); Expression<Camera> P(1);
// Expression<Point3> X(2); Expression<Point3> X(2);
//// AutoDiff<SnavelyProjection, 2, 9, 3> f; typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> Adaptor;
// Expression<Point2> expression( Expression<Point2> expression(Adaptor(), P, X);
// AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3>(), P, X); set<Key> expected = list_of(1)(2);
// set<Key> expected = list_of(1)(2); EXPECT(expected == expression.keys());
// EXPECT(expected == expression.keys());
} }
/* ************************************************************************* */ /* ************************************************************************* */